From 3af88056f6c3a07216e1b1cfbb5a5ec7d95c980c Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Fri, 12 Nov 2021 11:56:21 +0100
Subject: [PATCH] changing solver params and adding configs to tucan
---
yaml/IRI/params.yaml | 12 +--
yaml/IRI/params_only_gnss.yaml | 10 +-
yaml/IRI/solver.yaml | 16 +++
yaml/M600a/params.yaml | 12 +--
yaml/M600a/params_2.yaml | 10 +-
yaml/M600a/params_3.yaml | 10 +-
yaml/M600a/params_4.yaml | 10 +-
yaml/M600a/params_only_gnss.yaml | 10 +-
yaml/M600a/solver.yaml | 16 +++
yaml/M600b/params.yaml | 10 +-
yaml/M600b/params_2.yaml | 10 +-
yaml/M600b/params_3.yaml | 10 +-
yaml/M600b/params_4.yaml | 10 +-
yaml/M600b/params_only_gnss.yaml | 10 +-
yaml/M600b/solver.yaml | 16 +++
yaml/atlantic/params.yaml | 10 +-
yaml/atlantic/params_2.yaml | 10 +-
yaml/atlantic/params_3.yaml | 10 +-
yaml/atlantic/params_4.yaml | 10 +-
yaml/atlantic/params_only_gnss.yaml | 10 +-
yaml/atlantic/solver.yaml | 16 +++
yaml/scrab/params.yaml | 10 +-
yaml/scrab/params_2.yaml | 10 +-
yaml/scrab/params_3.yaml | 10 +-
yaml/scrab/params_4.yaml | 10 +-
yaml/scrab/params_only_gnss.yaml | 10 +-
yaml/scrab/solver.yaml | 16 +++
yaml/tucan/params.yaml | 10 +-
yaml/tucan/params_2.yaml | 161 ++++++++++++++++++++++++++++
yaml/tucan/params_3.yaml | 161 ++++++++++++++++++++++++++++
yaml/tucan/params_4.yaml | 161 ++++++++++++++++++++++++++++
yaml/tucan/processor_gnss.yaml | 2 +-
yaml/tucan/processor_gnss_2.yaml | 45 ++++++++
yaml/tucan/processor_gnss_3.yaml | 45 ++++++++
yaml/tucan/processor_gnss_4.yaml | 45 ++++++++
yaml/tucan/solver.yaml | 16 +++
36 files changed, 740 insertions(+), 210 deletions(-)
create mode 100644 yaml/IRI/solver.yaml
create mode 100644 yaml/M600a/solver.yaml
create mode 100644 yaml/M600b/solver.yaml
create mode 100644 yaml/atlantic/solver.yaml
create mode 100644 yaml/scrab/solver.yaml
create mode 100644 yaml/tucan/params_2.yaml
create mode 100644 yaml/tucan/params_3.yaml
create mode 100644 yaml/tucan/params_4.yaml
create mode 100644 yaml/tucan/processor_gnss_2.yaml
create mode 100644 yaml/tucan/processor_gnss_3.yaml
create mode 100644 yaml/tucan/processor_gnss_4.yaml
create mode 100644 yaml/tucan/solver.yaml
diff --git a/yaml/IRI/params.yaml b/yaml/IRI/params.yaml
index eec3d1e..6ae35fa 100644
--- a/yaml/IRI/params.yaml
+++ b/yaml/IRI/params.yaml
@@ -18,16 +18,8 @@ config:
follow: "../prior/POV_fix.yaml"
solver:
- max_num_iterations: 20
- verbose: 0
- period: 0.0
- n_threads: 2
- update_immediately: false
- min_num_iterations: 5 #if update immediately
- compute_cov: true
- cov_enum: 3
- cov_period: 1
-
+ follow: "solver.yaml"
+
map:
type: "MapBase"
plugin: "core"
diff --git a/yaml/IRI/params_only_gnss.yaml b/yaml/IRI/params_only_gnss.yaml
index f91af26..9d3485e 100644
--- a/yaml/IRI/params_only_gnss.yaml
+++ b/yaml/IRI/params_only_gnss.yaml
@@ -19,15 +19,7 @@ config:
follow: "../prior/PO_fix.yaml"
solver:
- max_num_iterations: 20
- verbose: 0
- period: 0.0
- n_threads: 2
- update_immediately: true
- min_num_iterations: 5 #if update immediately
- compute_cov: false
- cov_enum: 3
- cov_period: 1
+ follow: "solver.yaml"
map:
type: "MapBase"
diff --git a/yaml/IRI/solver.yaml b/yaml/IRI/solver.yaml
new file mode 100644
index 0000000..bb6e89b
--- /dev/null
+++ b/yaml/IRI/solver.yaml
@@ -0,0 +1,16 @@
+verbose: 0
+period: 0.0
+n_threads: 2
+
+compute_cov: true
+cov_enum: 3
+cov_period: 1
+
+max_num_iterations: 20
+minimizer: "LEVENBERG_MARQUARDT"
+update_immediately: false
+min_num_iterations: 5 #if update_immediately
+function_tolerance: 0.000001
+gradient_tolerance: 0.0000000001
+use_nonmonotonic_steps: false # if LEVENBERG_MARQUARDT or DOGLEG
+max_consecutive_nonmonotonic_steps: 5 # if use_nonmonotonic_steps
diff --git a/yaml/M600a/params.yaml b/yaml/M600a/params.yaml
index d75a0a8..a6de98d 100644
--- a/yaml/M600a/params.yaml
+++ b/yaml/M600a/params.yaml
@@ -18,16 +18,8 @@ config:
follow: "../prior/POV_fix.yaml"
solver:
- max_num_iterations: 20
- verbose: 0
- period: 0.0
- n_threads: 2
- update_immediately: false
- min_num_iterations: 5 #if update immediately
- compute_cov: true
- cov_enum: 3
- cov_period: 1
-
+ follow: "solver.yaml"
+
map:
type: "MapBase"
plugin: "core"
diff --git a/yaml/M600a/params_2.yaml b/yaml/M600a/params_2.yaml
index 07916e0..0f7c4e6 100644
--- a/yaml/M600a/params_2.yaml
+++ b/yaml/M600a/params_2.yaml
@@ -18,15 +18,7 @@ config:
follow: "../prior/POV_fix.yaml"
solver:
- max_num_iterations: 20
- verbose: 0
- period: 0.0
- n_threads: 2
- update_immediately: false
- min_num_iterations: 5 #if update immediately
- compute_cov: true
- cov_enum: 3
- cov_period: 1
+ follow: "solver.yaml"
map:
type: "MapBase"
diff --git a/yaml/M600a/params_3.yaml b/yaml/M600a/params_3.yaml
index d09eead..ebae724 100644
--- a/yaml/M600a/params_3.yaml
+++ b/yaml/M600a/params_3.yaml
@@ -18,15 +18,7 @@ config:
follow: "../prior/POV_fix.yaml"
solver:
- max_num_iterations: 20
- verbose: 0
- period: 0.0
- n_threads: 2
- update_immediately: false
- min_num_iterations: 5 #if update immediately
- compute_cov: true
- cov_enum: 3
- cov_period: 1
+ follow: "solver.yaml"
map:
type: "MapBase"
diff --git a/yaml/M600a/params_4.yaml b/yaml/M600a/params_4.yaml
index 14a02de..2b9a7f6 100644
--- a/yaml/M600a/params_4.yaml
+++ b/yaml/M600a/params_4.yaml
@@ -18,15 +18,7 @@ config:
follow: "../prior/POV_fix.yaml"
solver:
- max_num_iterations: 20
- verbose: 0
- period: 0.0
- n_threads: 2
- update_immediately: false
- min_num_iterations: 5 #if update immediately
- compute_cov: true
- cov_enum: 3
- cov_period: 1
+ follow: "solver.yaml"
map:
type: "MapBase"
diff --git a/yaml/M600a/params_only_gnss.yaml b/yaml/M600a/params_only_gnss.yaml
index 1573584..63ac9a9 100644
--- a/yaml/M600a/params_only_gnss.yaml
+++ b/yaml/M600a/params_only_gnss.yaml
@@ -18,15 +18,7 @@ config:
follow: "../prior/PO_fix.yaml"
solver:
- max_num_iterations: 20
- verbose: 0
- period: 0.0
- n_threads: 2
- update_immediately: false
- min_num_iterations: 5 #if update immediately
- compute_cov: false
- cov_enum: 3
- cov_period: 1
+ follow: "solver.yaml"
map:
type: "MapBase"
diff --git a/yaml/M600a/solver.yaml b/yaml/M600a/solver.yaml
new file mode 100644
index 0000000..bb6e89b
--- /dev/null
+++ b/yaml/M600a/solver.yaml
@@ -0,0 +1,16 @@
+verbose: 0
+period: 0.0
+n_threads: 2
+
+compute_cov: true
+cov_enum: 3
+cov_period: 1
+
+max_num_iterations: 20
+minimizer: "LEVENBERG_MARQUARDT"
+update_immediately: false
+min_num_iterations: 5 #if update_immediately
+function_tolerance: 0.000001
+gradient_tolerance: 0.0000000001
+use_nonmonotonic_steps: false # if LEVENBERG_MARQUARDT or DOGLEG
+max_consecutive_nonmonotonic_steps: 5 # if use_nonmonotonic_steps
diff --git a/yaml/M600b/params.yaml b/yaml/M600b/params.yaml
index ec6df0e..c531a5a 100644
--- a/yaml/M600b/params.yaml
+++ b/yaml/M600b/params.yaml
@@ -18,15 +18,7 @@ config:
follow: "../prior/POV_fix.yaml"
solver:
- max_num_iterations: 20
- verbose: 0
- period: 0.0
- n_threads: 2
- update_immediately: false
- min_num_iterations: 5 #if update immediately
- compute_cov: true
- cov_enum: 3
- cov_period: 1
+ follow: "solver.yaml"
map:
type: "MapBase"
diff --git a/yaml/M600b/params_2.yaml b/yaml/M600b/params_2.yaml
index 07916e0..0f7c4e6 100644
--- a/yaml/M600b/params_2.yaml
+++ b/yaml/M600b/params_2.yaml
@@ -18,15 +18,7 @@ config:
follow: "../prior/POV_fix.yaml"
solver:
- max_num_iterations: 20
- verbose: 0
- period: 0.0
- n_threads: 2
- update_immediately: false
- min_num_iterations: 5 #if update immediately
- compute_cov: true
- cov_enum: 3
- cov_period: 1
+ follow: "solver.yaml"
map:
type: "MapBase"
diff --git a/yaml/M600b/params_3.yaml b/yaml/M600b/params_3.yaml
index d09eead..ebae724 100644
--- a/yaml/M600b/params_3.yaml
+++ b/yaml/M600b/params_3.yaml
@@ -18,15 +18,7 @@ config:
follow: "../prior/POV_fix.yaml"
solver:
- max_num_iterations: 20
- verbose: 0
- period: 0.0
- n_threads: 2
- update_immediately: false
- min_num_iterations: 5 #if update immediately
- compute_cov: true
- cov_enum: 3
- cov_period: 1
+ follow: "solver.yaml"
map:
type: "MapBase"
diff --git a/yaml/M600b/params_4.yaml b/yaml/M600b/params_4.yaml
index 14a02de..2b9a7f6 100644
--- a/yaml/M600b/params_4.yaml
+++ b/yaml/M600b/params_4.yaml
@@ -18,15 +18,7 @@ config:
follow: "../prior/POV_fix.yaml"
solver:
- max_num_iterations: 20
- verbose: 0
- period: 0.0
- n_threads: 2
- update_immediately: false
- min_num_iterations: 5 #if update immediately
- compute_cov: true
- cov_enum: 3
- cov_period: 1
+ follow: "solver.yaml"
map:
type: "MapBase"
diff --git a/yaml/M600b/params_only_gnss.yaml b/yaml/M600b/params_only_gnss.yaml
index f91af26..9c5684f 100644
--- a/yaml/M600b/params_only_gnss.yaml
+++ b/yaml/M600b/params_only_gnss.yaml
@@ -19,15 +19,7 @@ config:
follow: "../prior/PO_fix.yaml"
solver:
- max_num_iterations: 20
- verbose: 0
- period: 0.0
- n_threads: 2
- update_immediately: true
- min_num_iterations: 5 #if update immediately
- compute_cov: false
- cov_enum: 3
- cov_period: 1
+ follow: "solver.yaml"
map:
type: "MapBase"
diff --git a/yaml/M600b/solver.yaml b/yaml/M600b/solver.yaml
new file mode 100644
index 0000000..bb6e89b
--- /dev/null
+++ b/yaml/M600b/solver.yaml
@@ -0,0 +1,16 @@
+verbose: 0
+period: 0.0
+n_threads: 2
+
+compute_cov: true
+cov_enum: 3
+cov_period: 1
+
+max_num_iterations: 20
+minimizer: "LEVENBERG_MARQUARDT"
+update_immediately: false
+min_num_iterations: 5 #if update_immediately
+function_tolerance: 0.000001
+gradient_tolerance: 0.0000000001
+use_nonmonotonic_steps: false # if LEVENBERG_MARQUARDT or DOGLEG
+max_consecutive_nonmonotonic_steps: 5 # if use_nonmonotonic_steps
diff --git a/yaml/atlantic/params.yaml b/yaml/atlantic/params.yaml
index 9680309..8f22514 100644
--- a/yaml/atlantic/params.yaml
+++ b/yaml/atlantic/params.yaml
@@ -18,15 +18,7 @@ config:
follow: "../prior/POV_fix.yaml"
solver:
- max_num_iterations: 20
- verbose: 0
- period: 0.0
- n_threads: 2
- update_immediately: false
- min_num_iterations: 5 #if update immediately
- compute_cov: true
- cov_enum: 3
- cov_period: 1
+ follow: "solver.yaml"
map:
type: "MapBase"
diff --git a/yaml/atlantic/params_2.yaml b/yaml/atlantic/params_2.yaml
index 3ea8608..1750368 100644
--- a/yaml/atlantic/params_2.yaml
+++ b/yaml/atlantic/params_2.yaml
@@ -18,15 +18,7 @@ config:
follow: "../prior/POV_fix.yaml"
solver:
- max_num_iterations: 20
- verbose: 0
- period: 0.0
- n_threads: 2
- update_immediately: false
- min_num_iterations: 5 #if update immediately
- compute_cov: true
- cov_enum: 3
- cov_period: 1
+ follow: "solver.yaml"
map:
type: "MapBase"
diff --git a/yaml/atlantic/params_3.yaml b/yaml/atlantic/params_3.yaml
index b1de5d6..e19cf29 100644
--- a/yaml/atlantic/params_3.yaml
+++ b/yaml/atlantic/params_3.yaml
@@ -18,15 +18,7 @@ config:
follow: "../prior/POV_fix.yaml"
solver:
- max_num_iterations: 20
- verbose: 0
- period: 0.0
- n_threads: 2
- update_immediately: false
- min_num_iterations: 5 #if update immediately
- compute_cov: true
- cov_enum: 3
- cov_period: 1
+ follow: "solver.yaml"
map:
type: "MapBase"
diff --git a/yaml/atlantic/params_4.yaml b/yaml/atlantic/params_4.yaml
index 0190769..e7fd94d 100644
--- a/yaml/atlantic/params_4.yaml
+++ b/yaml/atlantic/params_4.yaml
@@ -18,15 +18,7 @@ config:
follow: "../prior/POV_fix.yaml"
solver:
- max_num_iterations: 20
- verbose: 0
- period: 0.0
- n_threads: 2
- update_immediately: false
- min_num_iterations: 5 #if update immediately
- compute_cov: true
- cov_enum: 3
- cov_period: 1
+ follow: "solver.yaml"
map:
type: "MapBase"
diff --git a/yaml/atlantic/params_only_gnss.yaml b/yaml/atlantic/params_only_gnss.yaml
index 225a486..1e9e851 100644
--- a/yaml/atlantic/params_only_gnss.yaml
+++ b/yaml/atlantic/params_only_gnss.yaml
@@ -19,15 +19,7 @@ config:
follow: "../prior/PO_fix.yaml"
solver:
- max_num_iterations: 20
- verbose: 0
- period: 0.0
- n_threads: 2
- update_immediately: true
- min_num_iterations: 5 #if update immediately
- compute_cov: false
- cov_enum: 3
- cov_period: 1
+ follow: "solver.yaml"
map:
type: "MapBase"
diff --git a/yaml/atlantic/solver.yaml b/yaml/atlantic/solver.yaml
new file mode 100644
index 0000000..bb6e89b
--- /dev/null
+++ b/yaml/atlantic/solver.yaml
@@ -0,0 +1,16 @@
+verbose: 0
+period: 0.0
+n_threads: 2
+
+compute_cov: true
+cov_enum: 3
+cov_period: 1
+
+max_num_iterations: 20
+minimizer: "LEVENBERG_MARQUARDT"
+update_immediately: false
+min_num_iterations: 5 #if update_immediately
+function_tolerance: 0.000001
+gradient_tolerance: 0.0000000001
+use_nonmonotonic_steps: false # if LEVENBERG_MARQUARDT or DOGLEG
+max_consecutive_nonmonotonic_steps: 5 # if use_nonmonotonic_steps
diff --git a/yaml/scrab/params.yaml b/yaml/scrab/params.yaml
index 1b723684..62788b4 100644
--- a/yaml/scrab/params.yaml
+++ b/yaml/scrab/params.yaml
@@ -18,15 +18,7 @@ config:
follow: "../prior/POV_fix.yaml"
solver:
- max_num_iterations: 20
- verbose: 0
- period: 0.0
- n_threads: 2
- update_immediately: false
- min_num_iterations: 5 #if update immediately
- compute_cov: true
- cov_enum: 3
- cov_period: 1
+ follow: "solver.yaml"
map:
type: "MapBase"
diff --git a/yaml/scrab/params_2.yaml b/yaml/scrab/params_2.yaml
index 18d4a8e..6c5ce3c 100644
--- a/yaml/scrab/params_2.yaml
+++ b/yaml/scrab/params_2.yaml
@@ -18,15 +18,7 @@ config:
follow: "../prior/POV_fix.yaml"
solver:
- max_num_iterations: 20
- verbose: 0
- period: 0.0
- n_threads: 2
- update_immediately: false
- min_num_iterations: 5 #if update immediately
- compute_cov: true
- cov_enum: 3
- cov_period: 1
+ follow: "solver.yaml"
map:
type: "MapBase"
diff --git a/yaml/scrab/params_3.yaml b/yaml/scrab/params_3.yaml
index 2356290..23762d7 100644
--- a/yaml/scrab/params_3.yaml
+++ b/yaml/scrab/params_3.yaml
@@ -18,15 +18,7 @@ config:
follow: "../prior/POV_fix.yaml"
solver:
- max_num_iterations: 20
- verbose: 0
- period: 0.0
- n_threads: 2
- update_immediately: false
- min_num_iterations: 5 #if update immediately
- compute_cov: true
- cov_enum: 3
- cov_period: 1
+ follow: "solver.yaml"
map:
type: "MapBase"
diff --git a/yaml/scrab/params_4.yaml b/yaml/scrab/params_4.yaml
index 25bde87..83f2006 100644
--- a/yaml/scrab/params_4.yaml
+++ b/yaml/scrab/params_4.yaml
@@ -18,15 +18,7 @@ config:
follow: "../prior/POV_fix.yaml"
solver:
- max_num_iterations: 20
- verbose: 0
- period: 0.0
- n_threads: 2
- update_immediately: false
- min_num_iterations: 5 #if update immediately
- compute_cov: true
- cov_enum: 3
- cov_period: 1
+ follow: "solver.yaml"
map:
type: "MapBase"
diff --git a/yaml/scrab/params_only_gnss.yaml b/yaml/scrab/params_only_gnss.yaml
index f91af26..9c5684f 100644
--- a/yaml/scrab/params_only_gnss.yaml
+++ b/yaml/scrab/params_only_gnss.yaml
@@ -19,15 +19,7 @@ config:
follow: "../prior/PO_fix.yaml"
solver:
- max_num_iterations: 20
- verbose: 0
- period: 0.0
- n_threads: 2
- update_immediately: true
- min_num_iterations: 5 #if update immediately
- compute_cov: false
- cov_enum: 3
- cov_period: 1
+ follow: "solver.yaml"
map:
type: "MapBase"
diff --git a/yaml/scrab/solver.yaml b/yaml/scrab/solver.yaml
new file mode 100644
index 0000000..bb6e89b
--- /dev/null
+++ b/yaml/scrab/solver.yaml
@@ -0,0 +1,16 @@
+verbose: 0
+period: 0.0
+n_threads: 2
+
+compute_cov: true
+cov_enum: 3
+cov_period: 1
+
+max_num_iterations: 20
+minimizer: "LEVENBERG_MARQUARDT"
+update_immediately: false
+min_num_iterations: 5 #if update_immediately
+function_tolerance: 0.000001
+gradient_tolerance: 0.0000000001
+use_nonmonotonic_steps: false # if LEVENBERG_MARQUARDT or DOGLEG
+max_consecutive_nonmonotonic_steps: 5 # if use_nonmonotonic_steps
diff --git a/yaml/tucan/params.yaml b/yaml/tucan/params.yaml
index ae8771c..c959755 100644
--- a/yaml/tucan/params.yaml
+++ b/yaml/tucan/params.yaml
@@ -18,15 +18,7 @@ config:
follow: "../prior/POV_fix.yaml"
solver:
- max_num_iterations: 20
- verbose: 0
- period: 0.0
- n_threads: 2
- update_immediately: false
- min_num_iterations: 5 #if update immediately
- compute_cov: true
- cov_enum: 4 #GAUSS_TUCAN
- cov_period: 1
+ follow: "solver.yaml"
map:
type: "MapBase"
diff --git a/yaml/tucan/params_2.yaml b/yaml/tucan/params_2.yaml
new file mode 100644
index 0000000..dc94801
--- /dev/null
+++ b/yaml/tucan/params_2.yaml
@@ -0,0 +1,161 @@
+config:
+ debug:
+ profiling: true
+ profiling_file: "~/profiling_tucan.txt"
+ print_problem: false
+ print_period: 1
+ print_depth: 4
+ print_constr_by: false
+ print_metric: true
+ print_state_blocks: false
+
+ problem:
+ frame_structure: "POV"
+ dimension: 3
+ tree_manager:
+ follow: "../tree_manager/sliding_window_20_0.yaml"
+ prior:
+ follow: "../prior/POV_fix.yaml"
+
+ solver:
+ follow: "solver.yaml"
+
+ map:
+ type: "MapBase"
+ plugin: "core"
+
+ sensors:
+ -
+ type: "SensorImu"
+ name: "IMU_odometer"
+ plugin: "imu"
+ follow: "../sensor_bno.yaml"
+ #-
+ # type: "SensorCompass"
+ # name: "compass"
+ # plugin: "imu"
+ # follow: "sensor_bno_compass.yaml"
+ -
+ type: "SensorGnss"
+ name: "gnss"
+ plugin: "gnss"
+ extrinsic:
+ pose: [0.30, 0, -0.05] # TUCAN
+ follow: "../sensor_f9t.yaml"
+ -
+ type: "SensorModel"
+ name: "dynamic_model"
+ plugin: "core"
+
+ processors:
+ -
+ type: "ProcessorImu"
+ name: "processor IMU"
+ sensor_name: "IMU_odometer"
+ plugin: "imu"
+ follow: "../processor_imu.yaml"
+ #-
+ # type: "ProcessorCompass"
+ # name: "processor compass"
+ # sensor_name: "compass"
+ # plugin: "imu"
+ # follow: "../processor_compass.yaml"
+ -
+ type: "ProcessorTrackerGnss"
+ name: "processor gnss"
+ sensor_name: "gnss"
+ plugin: "gnss"
+ follow: "processor_gnss_2.yaml"
+ -
+ type: "ProcessorFixWingModel"
+ name: "processor fix wing"
+ sensor_name: "dynamic_model"
+ plugin: "core"
+ follow: "processor_fix_wing.yaml"
+
+ ROS subscriber:
+ -
+ type: "SubscriberGnssUblox"
+ topic: "/ublox_gps/raw_data_stream"
+ sensor_name: "gnss"
+ package: "wolf_ros_gnss"
+ follow: "../subscriber_gnss_ublox_2.yaml"
+ -
+ type: "SubscriberImuEnableable"
+ topic: "/bno055_imu/imu"
+ sensor_name: "IMU_odometer"
+ package: "wolf_ros_imu"
+ follow: "subscriber_imu.yaml"
+ #-
+ # type: "SubscriberCompass"
+ # topic: "/bno055_imu/magnetometer"
+ # sensor_name: "compass"
+ # package: "wolf_ros_imu"
+ # follow: "subscriber_imu.yaml"
+ -
+ type: "SubscriberGnssFixPublisherEcef"
+ topic: "/ublox_gps/fix"
+ sensor_name: "gnss"
+ package: "wolf_ros_gnss"
+ marker_color: [0,0,1,1]
+ line_size: 5
+ period: 0.2
+ max_points: 10000
+
+ ROS publisher:
+ -
+ type: "PublisherUbxNavPVT"
+ topic: "/ublox_emulator/nav_pvt9"
+ package: "wolf_ros_gauss"
+ period: 0.1
+ sensor: "gnss"
+ -
+ type: "PublisherRpaStateInfo"
+ topic: "rpa_state_info"
+ package: "wolf_ros_gauss"
+ period: 0.5
+ follow: "publisher_rpa_state_info.yaml"
+ -
+ type: "PublisherRpaPositioningInfo"
+ topic: "rpa_positioning_info"
+ package: "wolf_ros_gauss"
+ period: 0.5
+ sensor: "gnss"
+ -
+ type: "PublisherPose"
+ topic: "current_pose"
+ package: "wolf_ros_node"
+ marker_color: [1,0,0,1]
+ line_size: 5
+ period: 0.2
+ extrinsics: true
+ sensor: "gnss"
+ frame_id: "ENU"
+ max_points: 10000
+ -
+ type: "PublisherGnssTf"
+ topic: " "
+ package: "wolf_ros_gnss"
+ period: 0.01
+ sensor_gnss_name: "gnss"
+ -
+ type: "PublisherTf"
+ topic: " "
+ package: "wolf_ros_node"
+ period: 0.2
+ map_frame_id: "map"
+ odom_frame_id: "odom"
+ base_frame_id: "base"
+ publish_odom_tf: false
+ -
+ type: "PublisherGraph"
+ topic: "graph"
+ package: "wolf_ros_node"
+ period: 0.2
+ viz_scale: 50
+ -
+ type: "PublisherTrackerGnssInfo"
+ topic: "gnss_tracker"
+ package: "wolf_ros_gnss"
+ period: 0.2
+ processor_gnss: "processor gnss"
\ No newline at end of file
diff --git a/yaml/tucan/params_3.yaml b/yaml/tucan/params_3.yaml
new file mode 100644
index 0000000..c453c8d
--- /dev/null
+++ b/yaml/tucan/params_3.yaml
@@ -0,0 +1,161 @@
+config:
+ debug:
+ profiling: true
+ profiling_file: "~/profiling_tucan.txt"
+ print_problem: false
+ print_period: 1
+ print_depth: 4
+ print_constr_by: false
+ print_metric: true
+ print_state_blocks: false
+
+ problem:
+ frame_structure: "POV"
+ dimension: 3
+ tree_manager:
+ follow: "../tree_manager/sliding_window_20_0.yaml"
+ prior:
+ follow: "../prior/POV_fix.yaml"
+
+ solver:
+ follow: "solver.yaml"
+
+ map:
+ type: "MapBase"
+ plugin: "core"
+
+ sensors:
+ -
+ type: "SensorImu"
+ name: "IMU_odometer"
+ plugin: "imu"
+ follow: "../sensor_bno.yaml"
+ #-
+ # type: "SensorCompass"
+ # name: "compass"
+ # plugin: "imu"
+ # follow: "sensor_bno_compass.yaml"
+ -
+ type: "SensorGnss"
+ name: "gnss"
+ plugin: "gnss"
+ extrinsic:
+ pose: [0.30, 0, -0.05] # TUCAN
+ follow: "../sensor_f9t.yaml"
+ -
+ type: "SensorModel"
+ name: "dynamic_model"
+ plugin: "core"
+
+ processors:
+ -
+ type: "ProcessorImu"
+ name: "processor IMU"
+ sensor_name: "IMU_odometer"
+ plugin: "imu"
+ follow: "../processor_imu.yaml"
+ #-
+ # type: "ProcessorCompass"
+ # name: "processor compass"
+ # sensor_name: "compass"
+ # plugin: "imu"
+ # follow: "../processor_compass.yaml"
+ -
+ type: "ProcessorTrackerGnss"
+ name: "processor gnss"
+ sensor_name: "gnss"
+ plugin: "gnss"
+ follow: "processor_gnss_3.yaml"
+ -
+ type: "ProcessorFixWingModel"
+ name: "processor fix wing"
+ sensor_name: "dynamic_model"
+ plugin: "core"
+ follow: "processor_fix_wing.yaml"
+
+ ROS subscriber:
+ -
+ type: "SubscriberGnssUblox"
+ topic: "/ublox_gps/raw_data_stream"
+ sensor_name: "gnss"
+ package: "wolf_ros_gnss"
+ follow: "../subscriber_gnss_ublox_3.yaml"
+ -
+ type: "SubscriberImuEnableable"
+ topic: "/bno055_imu/imu"
+ sensor_name: "IMU_odometer"
+ package: "wolf_ros_imu"
+ follow: "subscriber_imu.yaml"
+ #-
+ # type: "SubscriberCompass"
+ # topic: "/bno055_imu/magnetometer"
+ # sensor_name: "compass"
+ # package: "wolf_ros_imu"
+ # follow: "subscriber_imu.yaml"
+ -
+ type: "SubscriberGnssFixPublisherEcef"
+ topic: "/ublox_gps/fix"
+ sensor_name: "gnss"
+ package: "wolf_ros_gnss"
+ marker_color: [0,0,1,1]
+ line_size: 5
+ period: 0.2
+ max_points: 10000
+
+ ROS publisher:
+ -
+ type: "PublisherUbxNavPVT"
+ topic: "/ublox_emulator/nav_pvt9"
+ package: "wolf_ros_gauss"
+ period: 0.1
+ sensor: "gnss"
+ -
+ type: "PublisherRpaStateInfo"
+ topic: "rpa_state_info"
+ package: "wolf_ros_gauss"
+ period: 0.5
+ follow: "publisher_rpa_state_info.yaml"
+ -
+ type: "PublisherRpaPositioningInfo"
+ topic: "rpa_positioning_info"
+ package: "wolf_ros_gauss"
+ period: 0.5
+ sensor: "gnss"
+ -
+ type: "PublisherPose"
+ topic: "current_pose"
+ package: "wolf_ros_node"
+ marker_color: [1,0,0,1]
+ line_size: 5
+ period: 0.2
+ extrinsics: true
+ sensor: "gnss"
+ frame_id: "ENU"
+ max_points: 10000
+ -
+ type: "PublisherGnssTf"
+ topic: " "
+ package: "wolf_ros_gnss"
+ period: 0.01
+ sensor_gnss_name: "gnss"
+ -
+ type: "PublisherTf"
+ topic: " "
+ package: "wolf_ros_node"
+ period: 0.2
+ map_frame_id: "map"
+ odom_frame_id: "odom"
+ base_frame_id: "base"
+ publish_odom_tf: false
+ -
+ type: "PublisherGraph"
+ topic: "graph"
+ package: "wolf_ros_node"
+ period: 0.2
+ viz_scale: 50
+ -
+ type: "PublisherTrackerGnssInfo"
+ topic: "gnss_tracker"
+ package: "wolf_ros_gnss"
+ period: 0.2
+ processor_gnss: "processor gnss"
\ No newline at end of file
diff --git a/yaml/tucan/params_4.yaml b/yaml/tucan/params_4.yaml
new file mode 100644
index 0000000..c453c8d
--- /dev/null
+++ b/yaml/tucan/params_4.yaml
@@ -0,0 +1,161 @@
+config:
+ debug:
+ profiling: true
+ profiling_file: "~/profiling_tucan.txt"
+ print_problem: false
+ print_period: 1
+ print_depth: 4
+ print_constr_by: false
+ print_metric: true
+ print_state_blocks: false
+
+ problem:
+ frame_structure: "POV"
+ dimension: 3
+ tree_manager:
+ follow: "../tree_manager/sliding_window_20_0.yaml"
+ prior:
+ follow: "../prior/POV_fix.yaml"
+
+ solver:
+ follow: "solver.yaml"
+
+ map:
+ type: "MapBase"
+ plugin: "core"
+
+ sensors:
+ -
+ type: "SensorImu"
+ name: "IMU_odometer"
+ plugin: "imu"
+ follow: "../sensor_bno.yaml"
+ #-
+ # type: "SensorCompass"
+ # name: "compass"
+ # plugin: "imu"
+ # follow: "sensor_bno_compass.yaml"
+ -
+ type: "SensorGnss"
+ name: "gnss"
+ plugin: "gnss"
+ extrinsic:
+ pose: [0.30, 0, -0.05] # TUCAN
+ follow: "../sensor_f9t.yaml"
+ -
+ type: "SensorModel"
+ name: "dynamic_model"
+ plugin: "core"
+
+ processors:
+ -
+ type: "ProcessorImu"
+ name: "processor IMU"
+ sensor_name: "IMU_odometer"
+ plugin: "imu"
+ follow: "../processor_imu.yaml"
+ #-
+ # type: "ProcessorCompass"
+ # name: "processor compass"
+ # sensor_name: "compass"
+ # plugin: "imu"
+ # follow: "../processor_compass.yaml"
+ -
+ type: "ProcessorTrackerGnss"
+ name: "processor gnss"
+ sensor_name: "gnss"
+ plugin: "gnss"
+ follow: "processor_gnss_3.yaml"
+ -
+ type: "ProcessorFixWingModel"
+ name: "processor fix wing"
+ sensor_name: "dynamic_model"
+ plugin: "core"
+ follow: "processor_fix_wing.yaml"
+
+ ROS subscriber:
+ -
+ type: "SubscriberGnssUblox"
+ topic: "/ublox_gps/raw_data_stream"
+ sensor_name: "gnss"
+ package: "wolf_ros_gnss"
+ follow: "../subscriber_gnss_ublox_3.yaml"
+ -
+ type: "SubscriberImuEnableable"
+ topic: "/bno055_imu/imu"
+ sensor_name: "IMU_odometer"
+ package: "wolf_ros_imu"
+ follow: "subscriber_imu.yaml"
+ #-
+ # type: "SubscriberCompass"
+ # topic: "/bno055_imu/magnetometer"
+ # sensor_name: "compass"
+ # package: "wolf_ros_imu"
+ # follow: "subscriber_imu.yaml"
+ -
+ type: "SubscriberGnssFixPublisherEcef"
+ topic: "/ublox_gps/fix"
+ sensor_name: "gnss"
+ package: "wolf_ros_gnss"
+ marker_color: [0,0,1,1]
+ line_size: 5
+ period: 0.2
+ max_points: 10000
+
+ ROS publisher:
+ -
+ type: "PublisherUbxNavPVT"
+ topic: "/ublox_emulator/nav_pvt9"
+ package: "wolf_ros_gauss"
+ period: 0.1
+ sensor: "gnss"
+ -
+ type: "PublisherRpaStateInfo"
+ topic: "rpa_state_info"
+ package: "wolf_ros_gauss"
+ period: 0.5
+ follow: "publisher_rpa_state_info.yaml"
+ -
+ type: "PublisherRpaPositioningInfo"
+ topic: "rpa_positioning_info"
+ package: "wolf_ros_gauss"
+ period: 0.5
+ sensor: "gnss"
+ -
+ type: "PublisherPose"
+ topic: "current_pose"
+ package: "wolf_ros_node"
+ marker_color: [1,0,0,1]
+ line_size: 5
+ period: 0.2
+ extrinsics: true
+ sensor: "gnss"
+ frame_id: "ENU"
+ max_points: 10000
+ -
+ type: "PublisherGnssTf"
+ topic: " "
+ package: "wolf_ros_gnss"
+ period: 0.01
+ sensor_gnss_name: "gnss"
+ -
+ type: "PublisherTf"
+ topic: " "
+ package: "wolf_ros_node"
+ period: 0.2
+ map_frame_id: "map"
+ odom_frame_id: "odom"
+ base_frame_id: "base"
+ publish_odom_tf: false
+ -
+ type: "PublisherGraph"
+ topic: "graph"
+ package: "wolf_ros_node"
+ period: 0.2
+ viz_scale: 50
+ -
+ type: "PublisherTrackerGnssInfo"
+ topic: "gnss_tracker"
+ package: "wolf_ros_gnss"
+ period: 0.2
+ processor_gnss: "processor gnss"
\ No newline at end of file
diff --git a/yaml/tucan/processor_gnss.yaml b/yaml/tucan/processor_gnss.yaml
index 8712d1a..f9016bd 100644
--- a/yaml/tucan/processor_gnss.yaml
+++ b/yaml/tucan/processor_gnss.yaml
@@ -24,7 +24,7 @@ gnss:
constellations:
GPS: true
SBS: false
- GLO: true
+ GLO: false
GAL: true
QZS: false
CMP: false
diff --git a/yaml/tucan/processor_gnss_2.yaml b/yaml/tucan/processor_gnss_2.yaml
new file mode 100644
index 0000000..0af7399
--- /dev/null
+++ b/yaml/tucan/processor_gnss_2.yaml
@@ -0,0 +1,45 @@
+time_tolerance: 0.1
+apply_loss_function: false
+max_new_features: -1 #unlimited
+remove_outliers: true
+remove_outliers_with_fix: true
+outlier_residual_th: 10
+init_frames: false
+pseudo_ranges: true
+fix: false
+enu_map_fix_dist: 5
+keyframe_vote:
+ voting_active: true
+ max_time_span: 0.5
+ min_features_for_keyframe: 0 #4
+gnss:
+ sateph: 0 # satellite ephemeris/clock: EPHOPT_BRDC(0):broadcast ephemeris, EPHOPT_PREC(1): precise ephemeris, EPHOPT_SBAS(2): broadcast + SBAS, EPHOPT_SSRAPC(3): broadcast + SSR_APC, EPHOPT_SSRCOM(4): broadcast + SSR_COM, EPHOPT_LEX(5): QZSS LEX ephemeris, EPHOPT_SBAS2(6):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), EPHOPT_SBAS3(7):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_SBAS2), EPHOPT_SBAS4(8):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_BRDC)
+ ionoopt: 1 # ionosphere option: IONOOPT_OFF(0):correction off, IONOOPT_BRDC(1):broadcast mode, IONOOPT_SBAS(2):SBAS model, IONOOPT_IFLC(3):L1/L2 or L1/L5, IONOOPT_EST(4):estimation, IONOOPT_TEC(5):IONEX TEC model, IONOOPT_QZS(6):QZSS broadcast, IONOOPT_LEX(7):QZSS LEX ionosphere, IONOOPT_STEC(8):SLANT TEC mode, IONOOPT_SBAS2(9):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), IONOOPT_SBAS3(10):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_SBAS2), IONOOPT_SBAS4(8):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_BRDC)
+ tropopt: 1 # troposphere option: (0:correction off,1:Saastamoinen model,2:SBAS model,3:troposphere option: ZTD estimation,4:ZTD+grad estimation,5:ZTD correction,6:ZTD+grad correction)
+ sbascorr: 15 # SBAS option (1:long term correction,2:fast correction,4:ionosphere correction,8:ranging)
+ raim: 1 # apply RAIM
+ elmin: 0.26 # elevation min (rad) = 15 degrees
+ maxgdop: 30 # reject threshold of gdop (ground dilusion of precision)
+ min_sbas_sats: 5 # used in case of EPHOPT_SBAS3, EPHOPT_SBAS4, IONOOPT_SBAS3, IONOOPT_SBAS4
+ constellations:
+ GPS: true
+ SBS: false
+ GLO: false
+ GAL: true
+ QZS: false
+ CMP: false
+ IRN: false
+ LEO: false
+ tdcp:
+ enabled: true
+ structure: consecutive
+ corr_iono: true
+ corr_tropo: true
+ corr_clock: true
+ loss_function: false
+ time_window: 10 # s
+ sigma_atm: 0.0016 #1.6mm/sqrt(s) # m/sqrt(s)
+ sigma_carrier: 0.0011 #1.1mm/sqrt(s) # m
+ multi_freq: false
+ remove_outliers: false
+ batch: false
\ No newline at end of file
diff --git a/yaml/tucan/processor_gnss_3.yaml b/yaml/tucan/processor_gnss_3.yaml
new file mode 100644
index 0000000..0483aec
--- /dev/null
+++ b/yaml/tucan/processor_gnss_3.yaml
@@ -0,0 +1,45 @@
+time_tolerance: 0.1
+apply_loss_function: false
+max_new_features: -1 #unlimited
+remove_outliers: true
+remove_outliers_with_fix: true
+outlier_residual_th: 10
+init_frames: false
+pseudo_ranges: true
+fix: false
+enu_map_fix_dist: 5
+keyframe_vote:
+ voting_active: true
+ max_time_span: 0.5
+ min_features_for_keyframe: 0 #4
+gnss:
+ sateph: 6 # satellite ephemeris/clock: EPHOPT_BRDC(0):broadcast ephemeris, EPHOPT_PREC(1): precise ephemeris, EPHOPT_SBAS(2): broadcast + SBAS, EPHOPT_SSRAPC(3): broadcast + SSR_APC, EPHOPT_SSRCOM(4): broadcast + SSR_COM, EPHOPT_LEX(5): QZSS LEX ephemeris, EPHOPT_SBAS2(6):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), EPHOPT_SBAS3(7):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_SBAS2), EPHOPT_SBAS4(8):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_BRDC)
+ ionoopt: 9 # ionosphere option: IONOOPT_OFF(0):correction off, IONOOPT_BRDC(1):broadcast mode, IONOOPT_SBAS(2):SBAS model, IONOOPT_IFLC(3):L1/L2 or L1/L5, IONOOPT_EST(4):estimation, IONOOPT_TEC(5):IONEX TEC model, IONOOPT_QZS(6):QZSS broadcast, IONOOPT_LEX(7):QZSS LEX ionosphere, IONOOPT_STEC(8):SLANT TEC mode, IONOOPT_SBAS2(9):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), IONOOPT_SBAS3(10):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_SBAS2), IONOOPT_SBAS4(8):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_BRDC)
+ tropopt: 2 # troposphere option: (0:correction off,1:Saastamoinen model,2:SBAS model,3:troposphere option: ZTD estimation,4:ZTD+grad estimation,5:ZTD correction,6:ZTD+grad correction)
+ sbascorr: 15 # SBAS option (1:long term correction,2:fast correction,4:ionosphere correction,8:ranging)
+ raim: 1 # apply RAIM
+ elmin: 0.26 # elevation min (rad) = 15 degrees
+ maxgdop: 30 # reject threshold of gdop (ground dilusion of precision)
+ min_sbas_sats: 5 # used in case of EPHOPT_SBAS3, EPHOPT_SBAS4, IONOOPT_SBAS3, IONOOPT_SBAS4
+ constellations:
+ GPS: true
+ SBS: false
+ GLO: false
+ GAL: false
+ QZS: false
+ CMP: false
+ IRN: false
+ LEO: false
+ tdcp:
+ enabled: true
+ structure: consecutive
+ corr_iono: true
+ corr_tropo: true
+ corr_clock: true
+ loss_function: false
+ time_window: 10 # s
+ sigma_atm: 0.0016 #1.6mm/sqrt(s) # m/sqrt(s)
+ sigma_carrier: 0.0011 #1.1mm/sqrt(s) # m
+ multi_freq: false
+ remove_outliers: false
+ batch: false
\ No newline at end of file
diff --git a/yaml/tucan/processor_gnss_4.yaml b/yaml/tucan/processor_gnss_4.yaml
new file mode 100644
index 0000000..25c554a
--- /dev/null
+++ b/yaml/tucan/processor_gnss_4.yaml
@@ -0,0 +1,45 @@
+time_tolerance: 0.1
+apply_loss_function: false
+max_new_features: -1 #unlimited
+remove_outliers: true
+remove_outliers_with_fix: true
+outlier_residual_th: 10
+init_frames: false
+pseudo_ranges: true
+fix: false
+enu_map_fix_dist: 5
+keyframe_vote:
+ voting_active: true
+ max_time_span: 0.5
+ min_features_for_keyframe: 0 #4
+gnss:
+ sateph: 0 # satellite ephemeris/clock: EPHOPT_BRDC(0):broadcast ephemeris, EPHOPT_PREC(1): precise ephemeris, EPHOPT_SBAS(2): broadcast + SBAS, EPHOPT_SSRAPC(3): broadcast + SSR_APC, EPHOPT_SSRCOM(4): broadcast + SSR_COM, EPHOPT_LEX(5): QZSS LEX ephemeris, EPHOPT_SBAS2(6):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), EPHOPT_SBAS3(7):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_SBAS2), EPHOPT_SBAS4(8):broadcast + SBAS(EPHOPT_SBAS if possible, otherwise EPHOPT_BRDC)
+ ionoopt: 1 # ionosphere option: IONOOPT_OFF(0):correction off, IONOOPT_BRDC(1):broadcast mode, IONOOPT_SBAS(2):SBAS model, IONOOPT_IFLC(3):L1/L2 or L1/L5, IONOOPT_EST(4):estimation, IONOOPT_TEC(5):IONEX TEC model, IONOOPT_QZS(6):QZSS broadcast, IONOOPT_LEX(7):QZSS LEX ionosphere, IONOOPT_STEC(8):SLANT TEC mode, IONOOPT_SBAS2(9):broadcast + SBAS(sats with SBAS corr and sats with BRDC eph), IONOOPT_SBAS3(10):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_SBAS2), IONOOPT_SBAS4(8):broadcast + SBAS(IONOOPT_SBAS if possible, otherwise IONOOPT_BRDC)
+ tropopt: 1 # troposphere option: (0:correction off,1:Saastamoinen model,2:SBAS model,3:troposphere option: ZTD estimation,4:ZTD+grad estimation,5:ZTD correction,6:ZTD+grad correction)
+ sbascorr: 15 # SBAS option (1:long term correction,2:fast correction,4:ionosphere correction,8:ranging)
+ raim: 1 # apply RAIM
+ elmin: 0.26 # elevation min (rad) = 15 degrees
+ maxgdop: 30 # reject threshold of gdop (ground dilusion of precision)
+ min_sbas_sats: 5 # used in case of EPHOPT_SBAS3, EPHOPT_SBAS4, IONOOPT_SBAS3, IONOOPT_SBAS4
+ constellations:
+ GPS: true
+ SBS: false
+ GLO: false
+ GAL: false
+ QZS: false
+ CMP: false
+ IRN: false
+ LEO: false
+ tdcp:
+ enabled: true
+ structure: consecutive
+ corr_iono: true
+ corr_tropo: true
+ corr_clock: true
+ loss_function: false
+ time_window: 10 # s
+ sigma_atm: 0.0016 #1.6mm/sqrt(s) # m/sqrt(s)
+ sigma_carrier: 0.0011 #1.1mm/sqrt(s) # m
+ multi_freq: false
+ remove_outliers: false
+ batch: false
\ No newline at end of file
diff --git a/yaml/tucan/solver.yaml b/yaml/tucan/solver.yaml
new file mode 100644
index 0000000..1c191d0
--- /dev/null
+++ b/yaml/tucan/solver.yaml
@@ -0,0 +1,16 @@
+verbose: 0
+period: 0.0
+n_threads: 2
+
+compute_cov: true
+cov_enum: 4 #GAUSS_TUCAN
+cov_period: 1
+
+max_num_iterations: 20
+minimizer: "LEVENBERG_MARQUARDT"
+update_immediately: false
+min_num_iterations: 5 #if update_immediately
+function_tolerance: 0.000001
+gradient_tolerance: 0.0000000001
+use_nonmonotonic_steps: false # if LEVENBERG_MARQUARDT or DOGLEG
+max_consecutive_nonmonotonic_steps: 5 # if use_nonmonotonic_steps
--
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